通过对平面四杆机构进行相应的改进,设计得到了适合于矩形外形物料装夹、搬运的平行夹式机械手,对平行夹的装夹范围、夹具空间变化范围、所需驱动力矩等参数进行了研究,对机构的尺寸、物料的重量、连杆刚性等方面做出了整体的评价。 Through the corresponding improvement on the planar four-bar mechanism, the parallel clamp-type manipulator which is suitable for the clamping and handling of the rectangle shape material is designed and the parameters of the clamping range of the parallel clamp, the range of the fixture space and the required driving torque are designed Research, the size of the organization, the weight of the material, connecting rod rigidity made a comprehensive evaluation.